000 02980nam a22004935i 4500
001 978-3-319-01228-5
003 DE-He213
005 20140220082508.0
007 cr nn 008mamaa
008 131106s2014 gw | s |||| 0|eng d
020 _a9783319012285
_9978-3-319-01228-5
024 7 _a10.1007/978-3-319-01228-5
_2doi
050 4 _aTA355
050 4 _aTA352-356
072 7 _aTGMD4
_2bicssc
072 7 _aTEC009070
_2bisacsh
072 7 _aSCI018000
_2bisacsh
082 0 4 _a620
_223
100 1 _aSeifried, Robert.
_eauthor.
245 1 0 _aDynamics of Underactuated Multibody Systems
_h[electronic resource] :
_bModeling, Control and Optimal Design /
_cby Robert Seifried.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2014.
300 _aXI, 249 p. 81 illus., 5 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSolid Mechanics and Its Applications,
_x0925-0042 ;
_v205
505 0 _a1 Introduction -- 2 Multibody Systems -- 3 Feedback Linearization and Model Inversion of Nonlinear Systems -- 4 Trajectory Tracking of Multibody Systems -- 5 Model Inversion Using Servo-Constraints -- 6 Trajectory Tracking of Flexible Multibody Systems -- 7 Optimal System Design -- 8 Concluding Remarks -- Index.
520 _aUnderactuated multibody systems are intriguing mechatronic systems, as they possess fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.
650 0 _aEngineering.
650 0 _aMechanics.
650 0 _aVibration.
650 1 4 _aEngineering.
650 2 4 _aVibration, Dynamical Systems, Control.
650 2 4 _aControl, Robotics, Mechatronics.
650 2 4 _aMechanics.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319012278
830 0 _aSolid Mechanics and Its Applications,
_x0925-0042 ;
_v205
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-319-01228-5
912 _aZDB-2-ENG
999 _c92615
_d92615